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- # EMC controller parameters for a simulated machine.
- # General note: Comments can either be preceded with a # or ; - either is
- # acceptable, although # is in keeping with most linux config files.
- # General section -------------------------------------------------------------
- [EMC]
- # Version of this INI file
- VERSION = 1.0
- # Name of machine, for use with display, etc.
- MACHINE = LinuxCNC-HAL-SIM-AXIS
- # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
- #DEBUG = 0x7FFFFFFF
- DEBUG = 0
- # Sections for display options ------------------------------------------------
- [DISPLAY]
- #TKPKG = Ngcgui 1.0
- #TKPKG = Ngcguittt 1.0
- # Ngcgui must be before Ngcguittt
- #NGCGUI_FONT = Helvetica -12 normal
- #NGCGUI_PREAMBLE = /home/josh/linuxcnc-dev/configs/sim/nc_files/in_std.ngc
- # here type names of your programs
- #[RS274NGC]
- #NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/helix.ngc
- #NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/helix_rtheta.ngc
- #NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/iquad.ngc
- #NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/arc1.ngc
- #NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/arc2.ngc
- #NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/hole_circle.ngc
- #NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/qpocket.ngc
- #NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/slot.ngc
- # symbol "" opens empty tab
- #NGCGUI_SUBFILE = ""
- #NGCGUI_OPTIONS = noremove
- #NGCGUI_OPTIONS = opt1 opt2 ...
- # avalible options:
- # nonew -- prevent from creating new tab
- # noremove -- prevent from removing tabs
- # noauto -- no autofilling
- # noiframe -- images displaying in new window
- #GCMC_INCLUDE_PATH = /home/myname/gcmc_includes
- # turning on engraving generator
- #TTT = truetype-tracer
- #TTT_PREAMBLE = mm_std.ngc
- #PROGRAM_PREFIX = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib
- #==================================================
- #[RS274NGC]
- #PARAMETER_FILE = linuxcnc.var
- #======================NGCGUI======================
- # path to ngcgui files
- #SUBROUTINE_PATH = /home/josh/linuxcnc-dev/sim/nc_files/ngcgui_lib:/home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/utilitysubs
- #USER_M_PATH = home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/mfiles
- #==================================================
- # Name of display program, e.g., axis
- DISPLAY = axis
- # Cycle time, in seconds, that display will sleep between polls
- CYCLE_TIME = 0.100
- # Path to help file
- HELP_FILE = doc/help.txt
- # Initial display setting for position, RELATIVE or MACHINE
- POSITION_OFFSET = RELATIVE
- # Initial display setting for position, COMMANDED or ACTUAL
- POSITION_FEEDBACK = ACTUAL
- # Highest value that will be allowed for feed override, 1.0 = 100%
- MAX_FEED_OVERRIDE = 1.2
- MAX_SPINDLE_OVERRIDE = 1.0
- MAX_LINEAR_VELOCITY = 5
- DEFAULT_LINEAR_VELOCITY = .25
- DEFAULT_SPINDLE_SPEED = 200
- # Prefix to be used
- PROGRAM_PREFIX = ../../nc_files/
- # Introductory graphic
- INTRO_GRAPHIC = linuxcnc.gif
- INTRO_TIME = 5
- EDITOR = gedit
- TOOL_EDITOR = tooledit
- INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
- [FILTER]
- PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
- PROGRAM_EXTENSION = .py Python Script
- png = image-to-gcode
- gif = image-to-gcode
- jpg = image-to-gcode
- py = python
- # Task controller section -----------------------------------------------------
- [TASK]
- # Name of task controller program, e.g., milltask
- TASK = milltask
- # Cycle time, in seconds, that task controller will sleep between polls
- CYCLE_TIME = 0.001
- # Part program interpreter section --------------------------------------------
- [RS274NGC]
- # File containing interpreter variables
- PARAMETER_FILE = sim.var
- # Motion control section ------------------------------------------------------
- [EMCMOT]
- EMCMOT = motmod
- # Timeout for comm to emcmot, in seconds
- COMM_TIMEOUT = 1.0
- # BASE_PERIOD is unused in this configuration but specified in core_sim.hal
- BASE_PERIOD = 0
- # Servo task period, in nano-seconds
- SERVO_PERIOD = 1000000
- # section for main IO controller parameters -----------------------------------
- [EMCIO]
- # Name of IO controller program, e.g., io
- EMCIO = io
- # cycle time, in seconds
- CYCLE_TIME = 0.100
- # tool table file
- TOOL_TABLE = sim.tbl
- TOOL_CHANGE_POSITION = 0 0 0
- TOOL_CHANGE_QUILL_UP = 1
- # Hardware Abstraction Layer section --------------------------------------------------
- [HAL]
- # The run script first uses halcmd to execute any HALFILE
- # files, and then to execute any individual HALCMD commands.
- #
- # list of hal config files to run through halcmd
- # files are executed in the order in which they appear
- HALFILE = core_sim.hal
- HALFILE = sim_spindle_encoder.hal
- HALFILE = axis_manualtoolchange.hal
- HALFILE = simulated_home.hal
- HALFILE = check_xyz_constraints.hal
- # list of halcmd commands to execute
- # commands are executed in the order in which they appear
- #HALCMD = save neta
- # Single file that is executed after the GUI has started. Only supported by
- # AXIS at this time (only AXIS creates a HAL component of its own)
- #POSTGUI_HALFILE = test_postgui.hal
- HALUI = halui
- # Trajectory planner section --------------------------------------------------
- [TRAJ]
- COORDINATES = X Y Z
- LINEAR_UNITS = inch
- ANGULAR_UNITS = degree
- MAX_LINEAR_VELOCITY = 4
- DEFAULT_LINEAR_ACCEL = 100
- MAX_LINEAR_ACCEL = 100
- POSITION_FILE = position.txt
- [KINS]
- KINEMATICS = trivkins
- JOINTS = 3
- # Axes sections ---------------
- [AXIS_X]
- MAX_VELOCITY = 4
- MAX_ACCELERATION = 100.0
- MIN_LIMIT = 0.0
- MAX_LIMIT = 38.0
- [AXIS_Y]
- MAX_VELOCITY = 4
- MAX_ACCELERATION = 100.0
- MIN_LIMIT = 0.0
- MAX_LIMIT = 43.0
- [AXIS_Z]
- MAX_VELOCITY = 4
- MAX_ACCELERATION = 100.0
- MIN_LIMIT = -8.0
- MAX_LIMIT = 0.12
- # Joints sections -------------
- [JOINT_0]
- TYPE = LINEAR
- HOME = 0.000
- MAX_VELOCITY = 5
- MAX_ACCELERATION = 50.0
- BACKLASH = 0.000
- INPUT_SCALE = 4000
- OUTPUT_SCALE = 1.000
- FERROR = 0.050
- MIN_FERROR = 0.010
- MIN_LIMIT = 0.0
- MAX_LIMIT = 38.0
- HOME_OFFSET = 0.0
- HOME_SEARCH_VEL = 20.0
- HOME_LATCH_VEL = 20.0
- HOME_USE_INDEX = NO
- HOME_IGNORE_LIMITS = NO
- HOME_SEQUENCE = 1
- HOME_IS_SHARED = 1
- [JOINT_1]
- TYPE = LINEAR
- HOME = 0.000
- MAX_VELOCITY = 5
- MAX_ACCELERATION = 50.0
- BACKLASH = 0.000
- INPUT_SCALE = 4000
- OUTPUT_SCALE = 1.000
- FERROR = 0.050
- MIN_FERROR = 0.010
- MIN_LIMIT = 0.0
- MAX_LIMIT = 43.0
- HOME_OFFSET = 0.0
- HOME_SEARCH_VEL = 20.0
- HOME_LATCH_VEL = 20.0
- HOME_USE_INDEX = NO
- HOME_IGNORE_LIMITS = NO
- HOME_SEQUENCE = 1
- [JOINT_2]
- TYPE = LINEAR
- HOME = 0.0
- MAX_VELOCITY = 5
- MAX_ACCELERATION = 50.0
- BACKLASH = 0.000
- INPUT_SCALE = 4000
- OUTPUT_SCALE = 1.000
- MIN_LIMIT = -8.0
- # Normally the Z max should be 0.000!
- # The only reason it's greater than 0 here is so that the splash screen
- # gcode will run.
- MAX_LIMIT = 0.12
- FERROR = 0.050
- MIN_FERROR = 0.010
- HOME_OFFSET = 1.0
- HOME_SEARCH_VEL = 20.0
- HOME_LATCH_VEL = 20.0
- HOME_USE_INDEX = NO
- HOME_IGNORE_LIMITS = NO
- HOME_SEQUENCE = 0
- HOME_IS_SHARED = 1
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